切换拓扑下基于动态事件触发的多智能体 固定时间分组一致性

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关键词：多智能体；切换拓扑；动态事件触发；固定时间；分组一致性 中图分类号：TP273 文献标志码：A 文章编号：1001-3695（2025）10-025-3092-07 doi：10.19734/j.issn.1001-3695.2025.03.0078

Fixed-time group consensus of multi-agent based on dynamic event triggering under switching topologies

Zhu Zhao，WangCong†，MaPing，ZhangHongli，LiXinkai （School of Electrical Engineering，Xinjiang University，Urimqi 83oo17，China）

Abstract：Foraclassof second-order nonlinear multi-agent systems under directed switchingtopologies，this paperaddresed theleader-folowergoupconsensusproblemanddesignedafixed-timecontrolmethodbasedondynamicevent-trigering under switchinggroupconfigurations.Theproposedcontrolprotocoluilizedsystemstatetrackingerorstoestablishafixed-timedynamicevent-triggered mechanism，guaranteeing bothprimaryandsecondary groupconsensus withinfixed time intervals.This fixed-timecontrolstrategpreventedinstabilityduringsecondarygroupingprocees，whilethedynamicevent-triggeredmechanismreduced controlupdate frequencyto minimize energy consumption.Stabilityanalysis was conductedthrough theconstructionofLyapunovfunctions，proving thatthesystemachievesfixed-timegroupconsensusunderswitching topologies.Te exclusionofZenobehaviorwasensuredbycalculatingthelowerboundofevent-triggeringintervals.Finally，simulationexperments validate the effectiveness of the proposed control method.

Key words：multi-agent；switching topologies；dynamic event triggering； fixed-time；group consensus

0 引言

随着人工智能技术的发展，多智能体控制广泛应用于微电网二次控制[1]、无人机编队[2]等领域。（剩余14639字）